👁️ Visualization Guide

Griffin provides powerful visualization tools to help you understand the dataset, validate your models, and create compelling demonstrations of aerial-ground cooperative perception.

🎯 Visualization Overview

Griffin supports multiple visualization modes for different use cases:

Mode	Data Source	Purpose	Output
📊 KITTI-Style	Raw data	Dataset exploration	Static images
🎬 NuScenes-Style	Processed data	Fusion visualization	Synchronized views

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📊 KITTI-Style Visualization (Ground Truth Only)

Perfect for exploring the raw dataset and understanding data structure.

🚗 Vehicle-Side Data

Visualize ground vehicle perspective:

python tools/griffin_data_converter/visual_kitti.py datasets/griffin_50scenes_25m/griffin-release/vehicle-side/

🚁 Drone-Side Data

Visualize aerial perspective:

python tools/griffin_data_converter/visual_kitti.py datasets/griffin_50scenes_25m/griffin-release/drone-side/

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🎬 NuScenes-Style Visualization (Predictions + Ground Truth)

Advanced visualization for model evaluation and cooperative perception analysis.

Basic Cooperative Visualization

Visualize both ground truth and model predictions:

python tools/analysis_tools/visual_griffin.py \
    --dataroot datasets/griffin_50scenes_25m/griffin-nuscenes/early-fusion \
    --out_folder result_vis/griffin_25m_early_fusion \
    --predroot YOUR_PATH
    
# The predroot should be similar with: projects/work_dirs_griffin_50scenes_25m/early-fusion/tiny_track_r50_stream_bs8_48epoch_3cls/json_output/Fri_Aug__1_06_24_45_2025/results_nusc.json

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📊 Sample Visualizations

Check out our visualization examples:

🎬 Demo Video: